EP3085073A4 - Object detection apparatus, moving body device control system and program thereof - Google Patents

Object detection apparatus, moving body device control system and program thereof Download PDF

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Publication number
EP3085073A4
EP3085073A4 EP14870904.1A EP14870904A EP3085073A4 EP 3085073 A4 EP3085073 A4 EP 3085073A4 EP 14870904 A EP14870904 A EP 14870904A EP 3085073 A4 EP3085073 A4 EP 3085073A4
Authority
EP
European Patent Office
Prior art keywords
program
control system
moving body
detection apparatus
device control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP14870904.1A
Other languages
German (de)
French (fr)
Other versions
EP3085073B1 (en
EP3085073A1 (en
Inventor
Ryosuke Kasahara
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ricoh Co Ltd
Original Assignee
Ricoh Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ricoh Co Ltd filed Critical Ricoh Co Ltd
Publication of EP3085073A1 publication Critical patent/EP3085073A1/en
Publication of EP3085073A4 publication Critical patent/EP3085073A4/en
Application granted granted Critical
Publication of EP3085073B1 publication Critical patent/EP3085073B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0833—Optical rain sensor
    • B60S1/0844—Optical rain sensor including a camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/141—Control of illumination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/31—Atmospheric conditions
    • B60Q2300/312—Adverse weather
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/108—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 'non-standard' camera systems, e.g. camera sensor used for additional purposes i.a. rain sensor, camera sensor split in multiple image areas
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Signal Processing (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Transforming Light Signals Into Electric Signals (AREA)
  • Studio Devices (AREA)
EP14870904.1A 2013-12-19 2014-12-11 Object detection apparatus, moving body device control system and program therefor Active EP3085073B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2013262885 2013-12-19
JP2014209786A JP6380843B2 (en) 2013-12-19 2014-10-14 Object detection apparatus, mobile device control system including the same, and object detection program
PCT/JP2014/083490 WO2015093552A1 (en) 2013-12-19 2014-12-11 Object detection apparatus, moving body device control system and program thereof

Publications (3)

Publication Number Publication Date
EP3085073A1 EP3085073A1 (en) 2016-10-26
EP3085073A4 true EP3085073A4 (en) 2017-04-05
EP3085073B1 EP3085073B1 (en) 2018-05-09

Family

ID=53402896

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14870904.1A Active EP3085073B1 (en) 2013-12-19 2014-12-11 Object detection apparatus, moving body device control system and program therefor

Country Status (5)

Country Link
US (1) US9944293B2 (en)
EP (1) EP3085073B1 (en)
JP (1) JP6380843B2 (en)
CN (1) CN105830428A (en)
WO (1) WO2015093552A1 (en)

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EP3252707A4 (en) * 2015-01-28 2018-09-19 Kyocera Corporation Image processing apparatus, image processing system, vehicle, imaging apparatus, and image processing method
CN108028022B (en) * 2015-09-30 2021-06-15 索尼公司 Image processing apparatus, image processing method, and vehicle control system
JP6589760B2 (en) * 2016-07-07 2019-10-16 株式会社デンソー Vehicle control device
CN106427902A (en) * 2016-10-26 2017-02-22 江苏金米智能科技有限责任公司 Automatic vehicle windscreen wiper control system based on image detection
CN106446873B (en) * 2016-11-03 2021-01-26 北京旷视科技有限公司 Face detection method and device
US10009554B1 (en) * 2017-02-24 2018-06-26 Lighthouse Ai, Inc. Method and system for using light emission by a depth-sensing camera to capture video images under low-light conditions
CN108605081B (en) * 2017-07-18 2020-09-01 杭州他若信息科技有限公司 Intelligent target tracking
US11460550B2 (en) 2017-09-19 2022-10-04 Veoneer Us, Llc Direct detection LiDAR system and method with synthetic doppler processing
JP2019055756A (en) * 2017-09-22 2019-04-11 トヨタ自動車株式会社 Recognition support apparatus for vehicle
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JPWO2019069733A1 (en) * 2017-10-06 2020-11-26 ソニーセミコンダクタソリューションズ株式会社 Solid-state image sensor, manufacturing method, and electronic equipment
US11585901B2 (en) 2017-11-15 2023-02-21 Veoneer Us, Llc Scanning lidar system and method with spatial filtering for reduction of ambient light
US11145046B2 (en) * 2018-07-24 2021-10-12 The Regents Of The University Of Michigan Detection of near-field occlusions in images
EP3844714B1 (en) * 2018-10-26 2024-09-25 Samsung Electronics Co., Ltd. Method and apparatus for image segmentation using an event sensor
WO2020145097A1 (en) * 2019-01-10 2020-07-16 株式会社小糸製作所 LiDAR SENSOR UNIT AND VEHICLE SECURITY SYSTEM
CN109886900B (en) * 2019-03-15 2023-04-28 西北大学 Synthetic rain map rain removing method based on dictionary training and sparse representation
US11474218B2 (en) 2019-07-15 2022-10-18 Veoneer Us, Llc Scanning LiDAR system and method with unitary optical element
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US11313969B2 (en) 2019-10-28 2022-04-26 Veoneer Us, Inc. LiDAR homodyne transceiver using pulse-position modulation
CN110941024B (en) * 2019-12-11 2022-05-17 江西莱利电气有限公司 Device and method for detecting foreign matters in fan based on interference imaging
EP4113478A4 (en) * 2020-02-27 2023-08-16 Koito Manufacturing Co., Ltd. Sensor system, control device, non-transitory computer-readable medium, and computer program
CN112804447B (en) * 2020-12-30 2023-01-17 北京石头创新科技有限公司 Method, device, medium and electronic equipment for detecting near-field object
US12044800B2 (en) 2021-01-14 2024-07-23 Magna Electronics, Llc Scanning LiDAR system and method with compensation for transmit laser pulse effects
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CN114419076B (en) * 2022-03-28 2022-08-05 杭州微影软件有限公司 Data processing method and device
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Also Published As

Publication number Publication date
WO2015093552A1 (en) 2015-06-25
JP6380843B2 (en) 2018-08-29
US9944293B2 (en) 2018-04-17
JP2015136095A (en) 2015-07-27
US20160280229A1 (en) 2016-09-29
EP3085073B1 (en) 2018-05-09
CN105830428A (en) 2016-08-03
EP3085073A1 (en) 2016-10-26

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